/* network_specific.c */ /* Beacon specifical network management. {{{ * * Copyright (C) 2012 Florent Duchon * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include #include #include #include "configuration.h" #include "network.h" #include "network_specific.h" #include "print.h" #include "motor.h" #include "position.h" #include "codewheel.h" #include "servo.h" #include "reset.h" #include "uid.h" /* Specific callback after data packet received */ void network_specific_DataIndicationcallback(APS_DataInd_t* indData) { uint8_t beacon = 0; uint16_t angle = 0; uint16_t angle_id = 0; AppMessage_t *FrameReceived = (AppMessage_t *) indData->asdu; /* Data received indication */ switch(FrameReceived->type) { case NETWORK_JACK_STATE: if(FrameReceived->data[NETWORK_MSG_DATA_MSB_FIELD]) { motor_start(); servo_start_wave_task(); } else { motor_stop(); servo_stop_wave_task(); } break; case NETWORK_OPPONENT_NUMBER: break; case NETWORK_ANGLE_RAW: /* Beacon address */ beacon = indData->srcAddress.shortAddress; /* Angle ID */ angle_id = FrameReceived->data[NETWORK_MSG_DATA_MSB_FIELD] >> 1; /* Angle value */ angle = ((FrameReceived->data[NETWORK_MSG_DATA_MSB_FIELD]&0x01) << 8) + FrameReceived->data[NETWORK_MSG_DATA_LSB_FIELD]; /* New angle is avaiiable, update position */ update_position(beacon,angle_id,codewheel_convert_angle_raw2radians(angle)); break; case NETWORK_RESET: reset_avr(); break; case NETWORK_UART_OVER_ZB: print_raw_data(FrameReceived->data,indData->asduLength-1); break; default: uprintf("Unknown data type received = %x\r\n",FrameReceived->type); break; } } /* Specific callback after data packet sent */ void network_specific_DataConfcallback(void) { }